CN109661295A - Balance system and industrial robot for industrial robot - Google Patents
Balance system and industrial robot for industrial robot Download PDFInfo
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- CN109661295A CN109661295A CN201680086637.4A CN201680086637A CN109661295A CN 109661295 A CN109661295 A CN 109661295A CN 201680086637 A CN201680086637 A CN 201680086637A CN 109661295 A CN109661295 A CN 109661295A
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- hydraulic cylinder
- energy storage
- industrial robot
- pressure oil
- storage device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
A kind of balance system for industrial robot, comprising: hydraulic device (1), it includes hydraulic cylinder (12) and piston rod (13), wherein hydraulic cylinder (12) is arranged on the pedestal of industrial robot, one end of piston rod (13) is plugged in hydraulic cylinder (12), and the other end of piston rod (13) and the mechanical arm of industrial robot connect；Energy storage equipment (2) is connected with hydraulic cylinder (12)；Elastic device (3), setting is in hydraulic cylinder (12)；Wherein, when the mechanical arm of industrial robot is moved along first direction, pressure oil in hydraulic cylinder (12) is injected into energy storage equipment (2), and by energy storage to energy storage equipment (2), while elastic device (3) generates deformation to store energy；When the mechanical arm of industrial robot is moved along the second direction opposite with first direction, pressure oil in energy storage equipment (2) flows into hydraulic cylinder (12), to discharge the energy being stored in energy storage equipment (2), elastic device (3) restores deformation simultaneously, to discharge the energy being stored in elastic device (3).By the above-mentioned means, the function of two axle loads of balance can easily be realized, and of less demanding to accumulation of energy component capabilities while easy for installation, movement interference will not be brought.Further relate to a kind of industrial robot using the balance system.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robot balancing, in particular to a balancing system for an industrial robot and the industrial robot.
[ background of the invention ]
An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field, can automatically execute work, and is a machine which realizes various functions by means of self power and control capacity; it is a motion device driven by a motor. The two-axis load of the heavy industrial robot (the load is more than 90 kg) is relatively large, the reasonable balancing device can balance the two-axis load, the motor is more reasonable in type selection, and the motion performance of the industrial robot is better.
In the prior art, there are generally three ways for balancing systems of existing industrial robots: gravity, spring, and hydraulic. The gravity type adopts a balance weight to balance two-axis load; the spring type adopts a plurality of groups of springs to balance the two-axis load; the hydraulic type adopts a combination form of hydraulic pressure and a bag type energy accumulator to balance two-axis load.
For the three existing balancing systems, there are different disadvantages:
the gravity type balance system generally has a large counterweight, so that the overall mass of the industrial robot is greatly increased;
the spring type balance system device has larger mass, a plurality of groups of spring combination forms are generally required to be selected when the spring type balance system is simply adopted, the design scheme is complex, the service life of the spring is limited by the reciprocating times, and the system is frequently required to be maintained;
the hydraulic balance system generally adopts a combination form of a hydraulic cylinder and double accumulators, the hydraulic system is generally required to provide pressure of more than 20MPa when the hydraulic balance system is purely adopted, leakage risks exist, and when the selected accumulators are large in size, the balance device and a two-axis motion space can interfere.
Therefore, the industrial robot can conveniently realize the function of balancing the two-axis load, has low requirement on the performance of the energy storage part, is convenient to install and does not bring motion interference, and is particularly important.
[ summary of the invention ]
The invention mainly solves the technical problem of providing the balancing system for the industrial robot and the industrial robot, which can conveniently realize the function of balancing the two-axis load, have low requirements on the performance of an energy storage part, are convenient to install and do not bring motion interference.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a balancing system for an industrial robot comprising:
the hydraulic device comprises a hydraulic cylinder and a piston rod, wherein the hydraulic cylinder is arranged on a base of the industrial robot, one end of the piston rod is inserted into the hydraulic cylinder, and the other end of the piston rod is connected with a mechanical arm of the industrial robot;
the energy storage device is communicated with the hydraulic cylinder;
the elastic device is arranged in the hydraulic cylinder;
when the mechanical arm of the industrial robot moves along a first direction, pressure oil in the hydraulic cylinder is injected into the energy storage device to store energy into the energy storage device, and meanwhile, the elastic device deforms to store energy; when the mechanical arm of the industrial robot moves in a second direction opposite to the first direction, the pressure oil in the energy storage device flows into the hydraulic cylinder to release the energy stored in the energy storage device, and simultaneously the elastic device restores its shape to release the energy stored in the elastic device.
Wherein, the hydraulic cylinder includes:
the cylinder body of the hydraulic cylinder is internally provided with a cavity;
and the baffle is arranged in the cavity of the cylinder body of the hydraulic cylinder, is connected with one end of the piston rod to move along with the movement of the piston rod, and divides the cavity of the cylinder body of the hydraulic cylinder into a rod cavity and a rodless cavity.
Wherein, the energy storage device includes:
the cylinder body of the energy storage device is internally provided with a pressure oil cavity;
the air bag is arranged in the pressure oil cavity;
wherein the pressure oil chamber in the energy storage device is communicated with the hydraulic cylinder in the hydraulic device, so that when the mechanical arm of the industrial robot moves along the first direction, the pressure oil in the hydraulic cylinder flows into the pressure oil chamber, thereby compressing the air bag to store energy into the energy storage device; when the mechanical arm of the industrial robot moves in the second direction, the pressure oil in the pressure oil chamber flows into the hydraulic cylinder, and the air bag expands to cause the energy storage device to release energy.
Wherein the rod cavity in the hydraulic cylinder is filled with pressure oil;
the elastic device is arranged in the rod cavity of the hydraulic cylinder and sleeved on the piston rod, one end of the elastic device is abutted against the baffle plate, and the other end of the elastic device is abutted against the side face of the cylinder body of the hydraulic cylinder;
the pressure oil chamber in the energy storage device is communicated with the rod chamber in the hydraulic cylinder.
Wherein the cylinder body of the hydraulic cylinder and the cylinder body of the energy storage device are integrally formed so that the hydraulic cylinder and the energy storage device are integrated together.
A connecting port is formed in the position, corresponding to the rod cavity, of the cylinder body of the hydraulic cylinder, so that the rod cavity is communicated with the pressure oil cavity in the energy storage device; and the position of the cylinder body of the hydraulic cylinder corresponding to the rodless cavity is provided with an air filter opening so as to enable the rodless cavity to be communicated with the outside.
The energy storage device comprises an energy storage device, an air bag inflation inlet and a pressure oil release port, wherein the air bag inflation inlet and the air bag are arranged on a cylinder body of the energy storage device, the air bag inflation inlet is connected with the air bag to pre-charge air for the air bag, and the pressure oil release port is connected with a pressure oil cavity to pre-charge, release and supplement pressure oil.
Wherein, the elastic device is a compression spring.
Wherein the load of the industrial robot is 90kg or more.
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided an industrial robot comprising a base, a robot arm, a joint and a balancing system, the joint being arranged between the base and the robot arm and the balancing system being arranged at the joint, and the balancing system comprising:
the hydraulic device comprises a hydraulic cylinder and a piston rod, wherein the hydraulic cylinder is arranged on a base of the industrial robot, one end of the piston rod is inserted into the hydraulic cylinder, and the other end of the piston rod is connected with a mechanical arm of the industrial robot;
the energy storage device is communicated with the hydraulic cylinder;
the elastic device is arranged in the hydraulic cylinder;
when the mechanical arm of the industrial robot moves along a first direction, pressure oil in the hydraulic cylinder is injected into the energy storage device to store energy into the energy storage device, and meanwhile, the elastic device deforms to store energy; when the mechanical arm of the industrial robot moves in a second direction opposite to the first direction, the pressure oil in the energy storage device flows into the hydraulic cylinder to release the energy stored in the energy storage device, and simultaneously the elastic device restores its shape to release the energy stored in the elastic device.
Wherein, the hydraulic cylinder includes:
the cylinder body of the hydraulic cylinder is internally provided with a cavity;
and the baffle is arranged in the cavity of the cylinder body of the hydraulic cylinder, is connected with one end of the piston rod to move along with the movement of the piston rod, and divides the cavity of the cylinder body of the hydraulic cylinder into a rod cavity and a rodless cavity.
Wherein, the energy storage device includes:
the cylinder body of the energy storage device is internally provided with a pressure oil cavity;
the air bag is arranged in the pressure oil cavity;
wherein the pressure oil chamber in the energy storage device is communicated with the hydraulic cylinder in the hydraulic device, so that when the mechanical arm of the industrial robot moves along the first direction, the pressure oil in the hydraulic cylinder flows into the pressure oil chamber, thereby compressing the air bag to store energy into the energy storage device; when the mechanical arm of the industrial robot moves in the second direction, the pressure oil in the pressure oil chamber flows into the hydraulic cylinder, and the air bag expands to cause the energy storage device to release energy.
Wherein the rod cavity in the hydraulic cylinder is filled with pressure oil;
the elastic device is arranged in the rod cavity of the hydraulic cylinder and sleeved on the piston rod, one end of the elastic device is abutted against the baffle plate, and the other end of the elastic device is abutted against the side face of the cylinder body of the hydraulic cylinder;
the pressure oil chamber in the energy storage device is communicated with the rod chamber in the hydraulic cylinder.
Wherein the cylinder body of the hydraulic cylinder and the cylinder body of the energy storage device are integrally formed so that the hydraulic cylinder and the energy storage device are integrated together.
A connecting port is formed in the position, corresponding to the rod cavity, of the cylinder body of the hydraulic cylinder, so that the rod cavity is communicated with the pressure oil cavity in the energy storage device; and the position of the cylinder body of the hydraulic cylinder corresponding to the rodless cavity is provided with an air filter opening so as to enable the rodless cavity to be communicated with the outside.
The energy storage device comprises an energy storage device, an air bag inflation inlet and a pressure oil release port, wherein the air bag inflation inlet and the air bag are arranged on a cylinder body of the energy storage device, the air bag inflation inlet is connected with the air bag to pre-charge air for the air bag, and the pressure oil release port is connected with a pressure oil cavity to pre-charge, release and supplement pressure oil.
Wherein, the elastic device is a compression spring.
Wherein the load of the industrial robot is 90kg or more.
The invention has the beneficial effects that: different from the prior art, the balance system comprises a hydraulic device, an energy storage device and an elastic device, when a mechanical arm of the industrial robot moves along a first direction, pressure oil in a hydraulic cylinder is injected into the energy storage device to store energy into the energy storage device, and meanwhile, the elastic device deforms to store energy; when the mechanical arm of the industrial robot moves in a second direction opposite to the first direction, the pressure oil in the energy storage device flows into the hydraulic cylinder to release the energy stored in the energy storage device, and the elastic device recovers the deformation to release the energy stored in the elastic device. Because the hydraulic balance system and the spring balance system are combined together, the pressure bearing of the hydraulic system and the pressure bearing of the elastic device are basically balanced, namely, the hydraulic pressure and the elastic force of the elastic device basically keep the same number and level, the functions are equivalent, and no one is taken as the main point; compared with the industrial robot with the same load level without the balance system, the load of the two-axis motor can be obviously balanced, the model of the two-axis motor can be smaller, and the motion performance is better; compared with a pure hydraulic balance system, the balance system has the advantages that the elastic device divides pressure, so that the hydraulic pressure value is smaller, and the sealing requirement is lower; compared with a pure spring type balance system, due to the fact that the hydraulic system divides pressure, the elastic device does not need to adopt a plurality of groups of designs, and hydraulic oil has a lubricating and rust-proof protection effect on the elastic device, and the service life of the elastic device is prolonged. Through the mode, the function of balancing the two-axis load is realized lightly, the requirement on the performance of the energy storage component is not high, and meanwhile, the device is convenient to install and cannot bring motion interference.
[ description of the drawings ]
Fig. 1 is a schematic structural view of an embodiment of the balancing system for an industrial robot according to the invention;
fig. 2 is a schematic structural view of another embodiment of the balancing system for an industrial robot according to the invention;
fig. 3 is a schematic structural diagram of an embodiment of the industrial robot of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
The embodiment of the invention provides a balancing system for an industrial robot and the industrial robot, which can conveniently realize the function of balancing two-axis load, have low requirements on the performance of an energy storage part, are convenient to install and do not bring motion interference. Each of which is described in detail below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of the balancing system for an industrial robot according to the present invention. The balancing system for an industrial robot comprises: a hydraulic device 1, an energy storage device 2 and an elastic device 3.
The hydraulic device 1 comprises a hydraulic cylinder 12 and a piston rod 13, wherein the hydraulic cylinder 12 is arranged on a base of the industrial robot, one end of the piston rod 13 is inserted into the hydraulic cylinder 12, and the other end of the piston rod 13 is connected with a mechanical arm of the industrial robot; the energy storage device 2 is communicated with the hydraulic cylinder 12; the elastic means 3 are arranged inside the hydraulic cylinder 12. A piston rod 13 is movable in the hydraulic cylinder 12, and when the piston rod 13 is moved, the robot arm carrying the industrial robot is moved together.
When the mechanical arm of the industrial robot moves along a first direction, pressure oil in the hydraulic cylinder 12 is injected into the energy storage device 2 to store energy into the energy storage device 2, and meanwhile, the elastic device 3 deforms to store energy; when the robot arm of the industrial robot is moved in a second direction opposite to the first direction, the pressure oil in the energy accumulating means 2 flows into the hydraulic cylinder 12 to release the energy stored in the energy accumulating means 2, while the elastic means 3 recovers its shape change to release the energy stored in the elastic means 3. When the mechanical arm moves along the first direction, the energy storage device 2 and the elastic device 3 equally store energy and share the energy respectively, so that the function of balancing two-axis loads can be realized conveniently when the two energy storage devices are compared with the independent energy storage devices, the requirement on the performance of an energy storage component is not high, the installation is convenient, and the movement interference can not be caused.
The balance system of the embodiment of the invention comprises a hydraulic device 1, an energy storage device 2 and an elastic device 3, when a mechanical arm of an industrial robot moves along a first direction, pressure oil in a hydraulic cylinder 12 is injected into the energy storage device 2 to store energy into the energy storage device 2, and meanwhile, the elastic device 3 deforms to store energy; when the robot arm of the industrial robot is moved in a second direction opposite to the first direction, the pressure oil in the energy accumulating means 2 flows into the hydraulic cylinder 12 to release the energy stored in the energy accumulating means 2, while the elastic means 3 recovers its shape change to release the energy stored in the elastic means 3. Because the hydraulic balance system and the spring balance system are combined together, the pressure bearing of the hydraulic system and the pressure bearing of the elastic device are basically balanced, namely, the hydraulic pressure and the elastic force of the elastic device basically keep the same number and level, the functions are equivalent, and no one is taken as the main point; compared with the industrial robot with the same load level without the balance system, the load of the two-axis motor can be obviously balanced, the model of the two-axis motor can be smaller, and the motion performance is better; compared with a pure hydraulic balance system, the balance system has the advantages that the elastic device divides pressure, so that the hydraulic pressure value is smaller, and the sealing requirement is lower; compared with a pure spring type balance system, due to the fact that the hydraulic system divides pressure, the elastic device does not need to adopt a plurality of groups of designs, and hydraulic oil has a lubricating and rust-proof protection effect on the elastic device, and the service life of the elastic device is prolonged. Through the mode, the function of balancing the two-axis load can be realized conveniently, the requirement on the performance of the energy storage component is not high, and meanwhile, the device is convenient to install and cannot bring motion interference.
Wherein, the hydraulic cylinder 12 includes: the cylinder body 121 of the hydraulic cylinder 12 and the baffle 122. A cavity is arranged in the cylinder body 121 of the hydraulic cylinder 12; the baffle 122 is disposed in the cavity of the cylinder body 121 of the hydraulic cylinder 12 and connected to one end of the piston rod 13 to move in accordance with the movement of the piston rod 13, and divides the cavity of the cylinder body 121 of the hydraulic cylinder 12 into a rod chamber 1211 and a rod-less chamber 1212.
Wherein, energy storage device 2 includes: the cylinder 21 and the air bag 22 of the energy storage device 2. A pressure oil chamber 211 is arranged in the cylinder body 21 of the energy storage device 2; the air bag 22 is disposed in the pressure oil chamber 211; wherein the pressure oil chamber 211 in the energy storage means 2 communicates with the hydraulic cylinder 12 in the hydraulic device 1, so that when the arm of the industrial robot moves in the first direction, the pressure oil in the hydraulic cylinder 12 flows into the pressure oil chamber 211, thereby compressing the air bag 22 to store energy into the energy storage means 2; when the arm of the industrial robot moves in the second direction, the pressure oil in the pressure oil chamber 211 flows into the hydraulic cylinder 12, and the air bag expands to cause the energy storage device 2 to release energy.
Wherein, a rod cavity 1211 in the hydraulic cylinder 12 is filled with pressure oil; the elastic device 3 is arranged in the rod cavity 1211 of the hydraulic cylinder 12 and sleeved on the piston rod 13, one end of the elastic device 3 abuts against the baffle 122, and the other end of the elastic device 3 abuts against the side face of the cylinder body 121 of the hydraulic cylinder 12; the pressure oil chamber 211 in the accumulator 2 communicates with the rod chamber 1211 in the cylinder 12.
Wherein the cylinder body 121 of the hydraulic cylinder 12 is integrally formed with the cylinder body 21 of the accumulator unit 2 so that the hydraulic cylinder 12 and the accumulator unit 2 are integrated.
Of course, in practical application, the energy storage device 2 may be externally arranged, and the bullet device 3 may be internally arranged, and the structural schematic diagram of this combination is shown in fig. 2, like reference numerals represent like names, and the detailed description of related contents refers to the above-mentioned contents, and will not be redundantly described here. In this case, the number of external energy storage devices 2 is not limited to 1, depending on the time. The operating principle and the operating mode thereof correspond to the design shown in fig. 1 and will not be described in detail here.
Wherein, a connecting port 1213 is arranged at the position of the cylinder body 121 of the hydraulic cylinder 12 corresponding to the rod cavity 1211, so that the rod cavity 1211 is communicated with the pressure oil cavity 211 in the energy storage device 2; and a gas filtering port 1214 is arranged at the position of the cylinder body 121 of the hydraulic cylinder 12 corresponding to the rodless cavity 1212, so that the rodless cavity 1212 is communicated with the outside.
The cylinder body 21 of the energy storage device 2 is provided with an air bag charging port 212 and a pressure oil discharging port 213, wherein the air bag charging port 212 is connected with the air bag 22 to pre-charge the air bag 22, and the pressure oil discharging port 213 is connected with the pressure oil chamber 211 to pre-charge, discharge and supplement pressure oil.
Wherein the elastic means 3 is a compression spring.
Wherein the load of the industrial robot is 90kg or more.
The balancing system is mounted at a joint of an industrial robot. When the motor drives the robot joint to move towards the first direction, the balance system can convert the gravitational potential energy of the robot body into the pressure energy of the hydraulic and elastic devices for storage; when the motor drives the robot joint to move towards the second direction, the balance system can release the stored pressure energy and convert the pressure energy into gravitational potential energy of the robot body.
The balance system basically and evenly processes the pressure bearing of the hydraulic system and the pressure bearing of the elastic device, namely the hydraulic pressure and the elastic force of the elastic device basically keep the same number level, the function is equivalent, and no one is taken as the main point. The specific working mode is as follows:
the hydraulic cylinder 12 of the balance system hydraulic device 1 is connected with the base of the robot, and the piston rod 13 is connected with the big arm; the energy storage device 2 is pre-charged with a certain pressure value, the pressure value depends on the design requirement, and the compression elastic device 3 is always in a compression state to provide tension for the load; the rod cavity 1211 of the hydraulic cylinder 12 is always in a high-pressure state, and forms pulling force on the large arm so as to reduce the load of the two-axis motor; when the big arm moves along a first direction (for example, moves downwards), the pressure oil is pressed into the energy storage device 3, and then the air bag 22 is compressed to store energy, and meanwhile, the elastic device 3 is compressed to store energy; when the large arm moves in a second direction (e.g. upwards), the balloon 22 and the elastic means 3 release energy simultaneously.
Compared with the same-load-level industrial robot without the balance system, the balance system has the advantages that the load of the two-axis motor can be obviously balanced, the model of the two-axis motor can be smaller, and the movement performance is better. Compared with a pure hydraulic balance system, the balance system has the advantages that the elastic device divides pressure, so that the hydraulic pressure value is smaller, and the sealing requirement is lower; compared with a simple spring balance system, due to the fact that a hydraulic system divides pressure, the elastic device does not need to adopt a plurality of groups of designs, and hydraulic oil has a lubricating and rust-proof protection effect on the elastic device, and the service life of the elastic device is prolonged.
The balance system combining the hydraulic system and the elastic device has the following advantages:
the weight of the gravity type balance system and the spring type balance system is light;
secondly, the internal pressure is lower than that of a hydraulic balance system, so that the sealing performance is improved;
thirdly, compared with a spring type balance system which is only adopted, the load of the spring under the same load level is smaller, and a plurality of groups of springs can be omitted;
fourthly, the hydraulic oil has the lubricating and antirust protection effects, so that the service life of the spring is prolonged;
fifthly, the energy storage device is arranged in the hydraulic cylinder, so that the integration degree is high, the size is small, and the installation is more convenient;
sixthly, the design outline is simple, and the motion interference is not easy to generate;
seventh, the whole installation of the balance system is convenient, the interface is clear, and the maintenance is convenient.
Referring to fig. 3, fig. 3 is a schematic structural view of an embodiment of the industrial robot of the present invention, which includes: the base 100, the robot arm 200, the joint 300 and the balance system 400, wherein the joint 300 is disposed between the base 100 and the robot arm 200, the balance system 400 is disposed at the joint 300, and the balance system 400 is any one of the balance systems, and the detailed description of the balance system is please refer to the description of the balance system, which will not be redundantly described here.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (18)
- A balancing system for an industrial robot, characterized in that it comprises:the hydraulic device comprises a hydraulic cylinder and a piston rod, wherein the hydraulic cylinder is arranged on a base of the industrial robot, one end of the piston rod is inserted into the hydraulic cylinder, and the other end of the piston rod is connected with a mechanical arm of the industrial robot;the energy storage device is communicated with the hydraulic cylinder;the elastic device is arranged in the hydraulic cylinder;when the mechanical arm of the industrial robot moves along a first direction, pressure oil in the hydraulic cylinder is injected into the energy storage device to store energy into the energy storage device, and meanwhile, the elastic device deforms to store energy; when the mechanical arm of the industrial robot moves in a second direction opposite to the first direction, the pressure oil in the energy storage device flows into the hydraulic cylinder to release the energy stored in the energy storage device, and simultaneously the elastic device restores its shape to release the energy stored in the elastic device.
- The balance system of claim 1, wherein the hydraulic cylinder comprises:the cylinder body of the hydraulic cylinder is internally provided with a cavity;and the baffle is arranged in the cavity of the cylinder body of the hydraulic cylinder, is connected with one end of the piston rod to move along with the movement of the piston rod, and divides the cavity of the cylinder body of the hydraulic cylinder into a rod cavity and a rodless cavity.
- The balance system of claim 2, wherein the energy storage device comprises:the cylinder body of the energy storage device is internally provided with a pressure oil cavity;the air bag is arranged in the pressure oil cavity;wherein the pressure oil chamber in the energy storage device is communicated with the hydraulic cylinder in the hydraulic device, so that when the mechanical arm of the industrial robot moves along the first direction, the pressure oil in the hydraulic cylinder flows into the pressure oil chamber, thereby compressing the air bag to store energy into the energy storage device; when the mechanical arm of the industrial robot moves in the second direction, the pressure oil in the pressure oil chamber flows into the hydraulic cylinder, and the air bag expands to cause the energy storage device to release energy.
- The balance system of claim 3, wherein the rod chamber in the hydraulic cylinder is filled with pressurized oil;the elastic device is arranged in the rod cavity of the hydraulic cylinder and sleeved on the piston rod, one end of the elastic device is abutted against the baffle plate, and the other end of the elastic device is abutted against the side face of the cylinder body of the hydraulic cylinder;the pressure oil chamber in the energy storage device is communicated with the rod chamber in the hydraulic cylinder.
- The balance system of claim 4, wherein the cylinder of the hydraulic cylinder is integrally formed with the cylinder of the energy storage device such that the hydraulic cylinder and the energy storage device are integrated together.
- The balance system of claim 4, wherein a connection port is provided at a position of the cylinder body of the hydraulic cylinder corresponding to the rod chamber, so that the rod chamber is communicated with the pressure oil chamber in the energy storage device; and the position of the cylinder body of the hydraulic cylinder corresponding to the rodless cavity is provided with an air filter opening so as to enable the rodless cavity to be communicated with the outside.
- The balance system of claim 4, wherein the cylinder of the energy storage device is provided with an air bag inflation port and a pressure oil release port, wherein the air bag inflation port is connected with the air bag to pre-charge the air bag, and the pressure oil release port is connected with the pressure oil chamber to pre-charge, release and supplement pressure oil.
- The balance system of claim 4, wherein the resilient means is a compression spring.
- The balancing system of claim 1, wherein the industrial robot is loaded at 90kg and above.
- An industrial robot comprising a base, a robot arm, a joint and a balancing system, characterized in that the joint is arranged between the base and the robot arm and the balancing system is arranged at the joint, and the balancing system comprises:the hydraulic device comprises a hydraulic cylinder and a piston rod, wherein the hydraulic cylinder is arranged on a base of the industrial robot, one end of the piston rod is inserted into the hydraulic cylinder, and the other end of the piston rod is connected with a mechanical arm of the industrial robot;the energy storage device is communicated with the hydraulic cylinder;the elastic device is arranged in the hydraulic cylinder;when the mechanical arm of the industrial robot moves along a first direction, pressure oil in the hydraulic cylinder is injected into the energy storage device to store energy into the energy storage device, and meanwhile, the elastic device deforms to store energy; when the mechanical arm of the industrial robot moves in a second direction opposite to the first direction, the pressure oil in the energy storage device flows into the hydraulic cylinder to release the energy stored in the energy storage device, and simultaneously the elastic device restores its shape to release the energy stored in the elastic device.
- An industrial robot according to claim 10, characterized in that the hydraulic cylinder comprises:the cylinder body of the hydraulic cylinder is internally provided with a cavity;and the baffle is arranged in the cavity of the cylinder body of the hydraulic cylinder, is connected with one end of the piston rod to move along with the movement of the piston rod, and divides the cavity of the cylinder body of the hydraulic cylinder into a rod cavity and a rodless cavity.
- An industrial robot according to claim 11, characterized in that said energy accumulating means comprises:the cylinder body of the energy storage device is internally provided with a pressure oil cavity;the air bag is arranged in the pressure oil cavity;wherein the pressure oil chamber in the energy storage device is communicated with the hydraulic cylinder in the hydraulic device, so that when the mechanical arm of the industrial robot moves along the first direction, the pressure oil in the hydraulic cylinder flows into the pressure oil chamber, thereby compressing the air bag to store energy into the energy storage device; when the mechanical arm of the industrial robot moves in the second direction, the pressure oil in the pressure oil chamber flows into the hydraulic cylinder, and the air bag expands to cause the energy storage device to release energy.
- An industrial robot according to claim 12, characterized in that the rod chamber in the hydraulic cylinder is filled with pressure oil;the elastic device is arranged in the rod cavity of the hydraulic cylinder and sleeved on the piston rod, one end of the elastic device is abutted against the baffle plate, and the other end of the elastic device is abutted against the side face of the cylinder body of the hydraulic cylinder;the pressure oil chamber in the energy storage device is communicated with the rod chamber in the hydraulic cylinder.
- An industrial robot according to claim 13, characterized in that the cylinder body of the hydraulic cylinder is integrated with the cylinder body of the energy accumulating means so that the hydraulic cylinder and the energy accumulating means are integrated.
- An industrial robot according to claim 13, characterized in that a connection port is provided in the cylinder body of the hydraulic cylinder at a position corresponding to the rod chamber, so that the rod chamber communicates with the pressure oil chamber in the accumulator; and the position of the cylinder body of the hydraulic cylinder corresponding to the rodless cavity is provided with an air filter opening so as to enable the rodless cavity to be communicated with the outside.
- The industrial robot of claim 13 wherein the cylinder of the accumulator has an air bag inflation port and a pressurized oil release port, wherein the air bag inflation port is connected to the air bag to pre-charge the air bag with gas, and the pressurized oil release port is connected to the pressurized oil chamber to pre-charge, release and replenish pressurized oil.
- An industrial robot according to claim 13, characterized in that said elastic means are compression springs.
- An industrial robot according to claim 10, characterized in that the load of the industrial robot is 90kg and above.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/113770 WO2018120137A1 (en) | 2016-12-30 | 2016-12-30 | Balancing system for use in industrial robot and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109661295A true CN109661295A (en) | 2019-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680086637.4A Pending CN109661295A (en) | 2016-12-30 | 2016-12-30 | Balance system and industrial robot for industrial robot |
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| Country | Link |
|---|---|
| CN (1) | CN109661295A (en) |
| WO (1) | WO2018120137A1 (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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|---|---|
| WO2018120137A1 (en) | 2018-07-05 |
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